gtsam::Ordering Class Reference

Inheritance diagram for gtsam::Ordering:

Public Member Functions
GTSAM_EXPORT	Ordering ()
	Create an empty ordering.
template<typename KEYS >
	Ordering (const KEYS &keys)
	Create from a container.
template<typename ITERATOR >
	Ordering (ITERATOR firstKey, ITERATOR lastKey)
	Create an ordering using iterators over keys.
boost::assign::list_inserter< boost::assign_detail::call_push_back< This > >	operator+= (Key key)
	Add new variables to the ordering as ordering += key1, key2, ... More...
FastMap< Key, size_t >	invert () const
	Invert (not reverse) the ordering - returns a map from key to order position.
Testable @{
GTSAM_EXPORT void	print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
GTSAM_EXPORT bool	equals (const Ordering &other, double tol=1e-9) const

Static Public Member Functions
Fill-reducing Orderings @{
template<class FACTOR_GRAPH >
static Ordering	Colamd (const FACTOR_GRAPH &graph)
	Compute a fill-reducing ordering using COLAMD from a factor graph (see details for note on performance). More...
static GTSAM_EXPORT Ordering	Colamd (const VariableIndex &variableIndex)
	Compute a fill-reducing ordering using COLAMD from a VariableIndex.
template<class FACTOR_GRAPH >
static Ordering	ColamdConstrainedLast (const FACTOR_GRAPH &graph, const KeyVector &constrainLast, bool forceOrder=false)
	Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). More...
static GTSAM_EXPORT Ordering	ColamdConstrainedLast (const VariableIndex &variableIndex, const KeyVector &constrainLast, bool forceOrder=false)
	Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. More...
template<class FACTOR_GRAPH >
static Ordering	ColamdConstrainedFirst (const FACTOR_GRAPH &graph, const KeyVector &constrainFirst, bool forceOrder=false)
	Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). More...
static GTSAM_EXPORT Ordering	ColamdConstrainedFirst (const VariableIndex &variableIndex, const KeyVector &constrainFirst, bool forceOrder=false)
	Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. More...
template<class FACTOR_GRAPH >
static Ordering	ColamdConstrained (const FACTOR_GRAPH &graph, const FastMap< Key, int > &groups)
	Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). More...
static GTSAM_EXPORT Ordering	ColamdConstrained (const VariableIndex &variableIndex, const FastMap< Key, int > &groups)
	Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. More...
template<class FACTOR_GRAPH >
static Ordering	Natural (const FACTOR_GRAPH &fg)
	Return a natural Ordering. Typically used by iterative solvers.
template<class FACTOR_GRAPH >
static GTSAM_EXPORT void	CSRFormat (std::vector< int > &xadj, std::vector< int > &adj, const FACTOR_GRAPH &graph)
	METIS Formatting function.
static GTSAM_EXPORT Ordering	Metis (const MetisIndex &met)
	Compute an ordering determined by METIS from a VariableIndex.
template<class FACTOR_GRAPH >
static Ordering	Metis (const FACTOR_GRAPH &graph)
Named Constructors @{
template<class FACTOR_GRAPH >
static Ordering	Create (OrderingType orderingType, const FACTOR_GRAPH &graph)

Public Types
enum	OrderingType { COLAMD, METIS, NATURAL, CUSTOM }
	Type of ordering to use.
typedef Ordering	This
	Typedef to this class.
typedef boost::shared_ptr< This >	shared_ptr
	shared_ptr to this class

Protected Types
typedef KeyVector	Base

Friends
class	boost::serialization::access
	Serialization function.

Member Function Documentation

Colamd()

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::Colamd ( const FACTOR_GRAPH &  graph )

inlinestatic

Compute a fill-reducing ordering using COLAMD from a factor graph (see details for note on performance).

This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&)

ColamdConstrained() [1/2]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::ColamdConstrained ( const FACTOR_GRAPH &  graph, const FastMap< Key, int > &  groups  )

inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance).

This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). In this function, a group for each variable should be specified in groups, and each group of variables will appear in the ordering in group index order. groups should be a map from Key to group index. The group indices used should be consecutive starting at 0, but may appear in groups in arbitrary order. Any variables not present in groups will be assigned to group 0. This function simply fills the cmember argument to CCOLAMD with the supplied indices, see the CCOLAMD documentation for more information.

ColamdConstrained() [2/2]

Ordering gtsam::Ordering::ColamdConstrained ( const VariableIndex &  variableIndex, const FastMap< Key, int > &  groups  )

static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex.

In this function, a group for each variable should be specified in groups, and each group of variables will appear in the ordering in group index order. groups should be a map from Key to group index. The group indices used should be consecutive starting at 0, but may appear in groups in arbitrary order. Any variables not present in groups will be assigned to group 0. This function simply fills the cmember argument to CCOLAMD with the supplied indices, see the CCOLAMD documentation for more information.

ColamdConstrainedFirst() [1/2]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::ColamdConstrainedFirst ( const FACTOR_GRAPH &  graph, const KeyVector &  constrainFirst, bool  forceOrder = false  )

inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance).

This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainFirst will be ordered in the same order specified in the KeyVector constrainFirst. If forceOrder is false, the variables in constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

ColamdConstrainedFirst() [2/2]

Ordering gtsam::Ordering::ColamdConstrainedFirst ( const VariableIndex &  variableIndex, const KeyVector &  constrainFirst, bool  forceOrder = false  )

static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex.

This function constrains the variables in constrainFirst to the front of the ordering, and orders all other variables after in a fill-reducing ordering. If forceOrder is true, the variables in constrainFirst will be ordered in the same order specified in the KeyVector constrainFirst. If forceOrder is false, the variables in constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

ColamdConstrainedLast() [1/2]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::ColamdConstrainedLast ( const FACTOR_GRAPH &  graph, const KeyVector &  constrainLast, bool  forceOrder = false  )

inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance).

This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainLast will be ordered in the same order specified in the KeyVector constrainLast. If forceOrder is false, the variables in constrainLast will be ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

ColamdConstrainedLast() [2/2]

Ordering gtsam::Ordering::ColamdConstrainedLast ( const VariableIndex &  variableIndex, const KeyVector &  constrainLast, bool  forceOrder = false  )

static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex.

This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainLast will be ordered in the same order specified in the KeyVector constrainLast. If forceOrder is false, the variables in constrainLast will be ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

operator+=()

boost::assign::list_inserter<boost::assign_detail::call_push_back<This> > gtsam::Ordering::operator+= ( Key  key )

inline

Add new variables to the ordering as ordering += key1, key2, ...

Equivalent to calling push_back.

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The documentation for this class was generated from the following files:

• /Users/dellaert/git/gtsam/gtsam/inference/Ordering.h
• /Users/dellaert/git/gtsam/gtsam/inference/Ordering.cpp